marker_array_publisher.h

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// -*- mode: c++ -*-
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#include <ros/ros.h>
#include <visualization_msgs/MarkerArray.h>

namespace jsk_footstep_planner
{
  class MarkerArrayPublisher
  {
  public:
    typedef boost::shared_ptr<MarkerArrayPublisher> Ptr;
    MarkerArrayPublisher(ros::NodeHandle& nh, const std::string& topic);
    virtual void publish();
    virtual void insert(const std::string& name, visualization_msgs::Marker marker);
    virtual void clear();
    virtual void clear(const std::string& name);
  protected:
    
    virtual size_t getID(const std::string& name);
    
    ros::Publisher pub_;
    std::map<std::string, size_t> name_mapping_;
    std::map<std::string, visualization_msgs::Marker> markers_;
  private:
    
  };
}